公开(公告)号：US20210100627A1

公开(公告)日：2021-04-08

申请号：US17044354

申请日：2019-04-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Troy K. Adebar ,  Christopher R. Carlson ,  Vincent Duindam ,  Teresa G. Gadda ,  Oliver J. Wagner ,  Benjamin G. Cohn

IPC: A61B34/20 ,  A61B10/02 ,  A61B18/14 ,  A61B18/02 ,  A61M5/32 ,  A61B1/00 ,  A61B8/12 ,  A61B8/00 ,  A61M25/00 ,  A61B17/34 ,  G06T7/00 ,  G06T7/73

Abstract: A medical system includes a catheter and a processor. The catheter includes a first channel and a distal end portion associated with a catheter frame of reference. The processor is configured to receive a first image captured by a first imaging device provided by the catheter within a patient anatomy, and receive a second image of the patient anatomy captured by a second imaging device from outside the patient anatomy. The second image includes the catheter and the first imaging device. The processor is further configured to determine a relative pose between the first imaging device and the distal end of the catheter based on the second image, determine a target location associated with a target structure in the first image, and transform the target location in an image frame of reference associated with the first image to the catheter frame of reference based on the relative pose.

公开(公告)号：US12161286B2

公开(公告)日：2024-12-10

申请号：US17258705

申请日：2019-07-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Andrew J. Hazelton ,  Teresa G. Gadda ,  Changmeng Liu

IPC: A61B34/20 ,  A61B1/00 ,  A61B17/00 ,  A61B34/00

Abstract: A system comprises a tool and a catheter sized to receive the tool. The system also comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive, via an image sensor of the tool, a plurality of images from within a lumen of the catheter. Each image comprises a plurality of pixels. For each image, a subset of the plurality of pixels associated with a viewable feature is identified. For each image, a likely orientation for the viewable feature is determined based on the identified subset of the plurality of pixels. A composite orientation for the viewable feature is determined based on a combination of the likely orientations of the viewable feature for each image. A rotational offset of the tool relative to the catheter is determined based on the determined composite orientation.

公开(公告)号：US20250040786A1

公开(公告)日：2025-02-06

申请号：US18882529

申请日：2024-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew J. Hazelton ,  Teresa G. Gadda ,  Changmeng Liu

IPC: A61B1/00 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20

Abstract: An apparatus comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the apparatus to capture, via an image sensor of a tool installed at least partially within a catheter, a first image within a lumen of the catheter. The first image comprises a plurality of pixels. The instructions further cause the apparatus to identify a first subset of the pixels comprising a viewable feature, and a second subset of the pixels comprising a background color. The instructions further cause the apparatus to adjust the second subset to a neutral color, create a modified image by filtering the pixels to remove the second subset, determine an angular orientation of the viewable feature in the modified image, and determine a rotational offset of the tool relative to the catheter based on the angular orientation of the viewable feature.

公开(公告)号：US20190192234A1

公开(公告)日：2019-06-27

申请号：US16327219

申请日：2017-08-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K. Adebar ,  Christian Bianchi ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/37 ,  A61B2034/301 ,  A61B2090/365 ,  A61B2090/374 ,  A61B2090/3762

Abstract: Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.

公开(公告)号：US20230157769A1

公开(公告)日：2023-05-25

申请号：US18159568

申请日：2023-01-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K. Adebar ,  Cristian Bianchi ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B34/37 ,  A61B34/35 ,  A61B2034/301

Abstract: Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.

公开(公告)号：US11628013B2

公开(公告)日：2023-04-18

申请号：US16327219

申请日：2017-08-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K. Adebar ,  Cristian Bianchi ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  A61B34/10 ,  A61B17/00

Abstract: A method of monitoring a medical instrument during a medical procedure includes: receiving state information from a control system in communication with the medical instrument; detecting, by the control system, motion of at least a portion of the medical instrument; comparing the detected motion of the at least the portion of the medical instrument with a threshold motion value based on the state information received from the control system; determining, based on the detected motion exceeding the threshold motion value, significant movement of a patient has occurred; providing a system response based on determining significant movement of the patient has occurred; comparing the detected motion with a threshold control value, wherein the threshold control value is higher than the threshold motion value; and disregarding, when the detected motion is higher than the threshold control value, motion commands received from a master assembly.

公开(公告)号：US20210259783A1

公开(公告)日：2021-08-26

申请号：US17253743

申请日：2019-06-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K Adebar ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/10

Abstract: A system includes one or more processors configured to read instructions to cause the system to perform operations including accessing a set of model points of a model of an anatomic structure of a patient. The model points is associated with a model space. The operations further include collecting a set of measured points of the anatomic structure of the patient, the measured points being associated with a patient space, determining a set of matches between the set of model points and the set of measured points, determining a first plurality of weights for the set of matches, and registering the set of model points to the set of measured points based on the first plurality of weights to generate a first registration.